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Connected and autonomous vehicles (CAVs) have the potential to significantly improve traffic safety and mobility through platoon formation whereby vehicles follow one another closely. Such platoons also may reduce energy consumption of individual CAVs by reducing air drag. While control mechanisms have been previously proposed to control vehicles in a platoon, for example, through adaptive cruise control, they mainly focus on seeking a better situation for an individual vehicle by controlling its driving behavior. This study focuses on CAV-based control mechanisms to holistically determine the acceleration/deceleration rate of each CAV in a platoon to maximize platoon performance. It designs several robust control mechanisms to coordinate the behaviors of CAVs in a platoon to ensure safe and efficient maneuver of CAV platoon by addressing several realistic challenges such as the unreliable vehicle-to-vehicle communication (i.e., packet loss) and uncertainty of leading vehicle’s future behavior. The impact of information delay and topology of information that is exchanged among vehicles on platoon dynamics will be analyzed. The optimal time headway and platoon size to maximize fuel efficiency of the CAVs in the platoon will be determined.